BACKGROUND
Technical Field
[0001] The present invention relates to surgical instruments and, in various embodiments,
to minimally invasive surgical instruments having an articulating end effector.
Background
[0002] Endoscopic and other minimally invasive surgical instruments typically include an
end effector positioned at the distal end of an elongate shaft and a handle at the
proximal end of the elongate shaft allowing a clinician to manipulate the end effector.
In use, the end effector is provided to a surgical site through a cannula of a trocar.
At the surgical site, the end effector engages tissue in any number of ways to achieve
a diagnostic or therapeutic effect. Endoscopic surgical instruments are often preferred
over traditional open surgical instruments because they require smaller incisions
that generally heal with less post-operative recovery time than traditional open surgery
incisions. Because of this and other benefits of endoscopic surgery, significant development
has gone into a range of endoscopic surgical instruments having end effectors that
engage tissue to accomplish a number of surgical tasks. For example, end effectors
have been developed to act as endocutters, graspers, cutters, staplers, clip appliers,
access devices, drug/gene therapy delivery devices, ultrasound, RF, or laser energy
devices, and other surgical instruments.
[0003] In use, the positioning of the end effector at the surgical site may be constrained
by the trocar cannula. Generally, the elongate shaft of the device enables the clinician
to insert the end effector to a desired depth and rotate the end effector about the
longitudinal axis of the shaft. This allows the end effector to be positioned at the
surgical site, to a degree. With judicious placement of the trocar and use of graspers,
for instance, through another trocar, this amount of positioning is often sufficient.
Depending upon the nature of the operation, however, it may be desirable to adjust
the positioning of the end effector of an endoscopic surgical instrument. In particular,
it is often desirable to orient the end effector at any one of multiple angles relative
to the longitudinal axis of the elongate shaft of the instrument.
[0004] Movement of the end effector through multiple angles relative to the instrument shaft
is conventionally referred to as "articulation." Articulation is typically accomplished
by a pivot (or articulation) joint being placed in the elongate shaft just proximal
to the end effector. This allows the clinician to articulate the end effector remotely
to either side for better surgical placement of the tissue fasteners and easier tissue
manipulation and orientation. An articulating end effector permits the clinician to
more easily engage tissue in some instances, such as behind an organ. In addition,
articulated positioning advantageously allows an endoscope to be positioned behind
the end effector without being blocked by the elongate shaft.
[0005] Approaches to articulating end effectors tend to be complicated because mechanisms
for controlling the articulation must be integrated with mechanisms for operating
the end effector. For example, for end effectors that have open and closable jaw features,
the closure sleeve, drive member and mechanisms for articulation must be implemented
within the small diameter constraints of the instrument's shaft. One common prior
design involves an accordion-like articulation mechanism ("flex-neck") that is articulated
by selectively drawing back one of two connecting rods through the implement shaft
wherein each rod is offset respectively on opposite sides of the shaft centerline.
The connecting rods ratchet through a series of discrete positions.
[0006] Over the years, other forms of articulating end effector arrangements have been developed.
For example,
U.S. Patent No. 7,670,334, entitled "Surgical Instrument Having an Articulating End Effector", and
U.S. Patent No. 7,819,298, entitled "Surgical Stapling Apparatus With Control Features Operable With One Hand"
disclose various surgical instruments that employ articulating end effector arrangements
that effectively address many of the shortcomings of prior instruments with articulating
effectors.
[0007] Many prior surgical instrument arrangements also employ a component commonly referred
to as a "nozzle" that is rotatably supported on the instrument handle and is attached
to the elongated shaft. When the clinician desires to rotate the end effector about
the shaft axis, he or she simply rotates the nozzle relative to the handle. When the
clinician also desires to articulate the end effector, the clinician must actuate
a slide bar or other form of articulation control member to accomplish the desired
articulation. Such control devices (e.g., the nozzle and articulation bar/control
arrangement) typically must be actuated by using both hands.
For further background, document
US 2009/084826 describes an articulating elongate surgical instrument that includes a handle assembly,
an elongated body portion, and a tool assembly pivotally supported on the distal end
of the elongated body portion. The elongate surgical instrument further includes an
articulation mechanism to effect the movement of the tool assembly, the articulation
mechanism including a pivot member operatively coupled to the tool assembly.
[0008] In performing many surgical procedures, it is desirable to effect a desired amount
of end effector articulation and rotation by using only one hand. For example, many
vascular operations require precise control of the end effector. In such applications,
it would be desirable to be able to have a surgical instrument that employs a single
control mechanism for selectively articulating and rotating the end effector that
can be easily actuated by using the same hand that is supporting the handle portion
of the instrument.
[0009] The foregoing discussion is intended only to illustrate some of the shortcomings
present in the field of the invention at the time, and should not be taken as a disavowal
of claim scope.
SUMMARY
[0010] In accordance with general aspects of at least one form, there is provided a surgical
instrument, according to independent claim 1, that has an elongate shaft that defines
a longitudinal axis. An end effector is coupled to the elongate shaft for selective
pivotal travel relative thereto. The end effector has at least one movable portion
that is responsive to opening and closing motions. A closure member interfaces with
the movable portion of the end effector to selectively apply the closing motion thereto.
An articulation control system operably interfaces with the end effector to apply
articulation motions thereto. An articulation lock system interfaces with the articulation
control system and said closure member. The articulation lock system is configured
to move from an unlocked position wherein the articulation control system applies
the articulation motions to the end effector and a locked position wherein the articulation
lock system prevents the articulation control system from applying the articulation
motions to the end effector upon application of the closure motion by the closure
member.
[0011] In accordance with other general aspects of at least one form, there is provided
a surgical instrument that has an elongate shaft that defines a longitudinal axis.
An end effector is coupled to the elongate shaft for selective pivotal travel relative
thereto to various articulated positions. The end effector has at least one portion
that is movably responsive to opening and closing motions. A closure member interfaces
with the movable portion of the end effector to apply the closure motion thereto when
the closure member is moved in a closure direction. The closure member further applies
the opening motion to the end effector movable portion when the closure member is
moved in an opening direction. A first elongated articulation member is movably supported
relative to the closure member and is configured to apply a first articulation motion
to the end effector when the first elongated articulation member is moved in a first
actuation direction and a second articulation motion to the end effector when the
first articulation member is moved in a second actuation direction. A locking member
operably interfaces with the closure member and the first elongated articulation member
such that when the closure member is moved in the closing direction, the locking member
lockingly engages the first elongated articulation member to prevent movement thereof
in the first and second actuation directions and when the closure member is moved
in the opening direction, the locking member disengages the first articulation member
to enable the first articulation member to move in the first and second actuation
directions.
BRIEF DESCRIPTION OF DRAWINGS
[0012] The above-mentioned and other features and advantages of this invention, and the
manner of attaining them, will become more apparent and the invention itself will
be better understood by reference to the following description of embodiments of the
disclosure taken in conjunction with the accompanying drawings, wherein:
FIG. 1 is a perspective view of a surgical instrument with a non-limiting articulating
end effector embodiment of one form of the present disclosure;
FIG. 2 is an exploded assembly view of a non-limiting end effector embodiment of at
least one form of the present disclosure;
FIG. 3 is an assembly view of a non-limiting articulation control system embodiment
of at least one form of the present disclosure;
FIG. 4 is a perspective view of the non-limiting articulation control system of FIG.
3;
FIG. 5 is a perspective view of a portion of the non-limiting articulation control
system of FIGS. 3 and 4;
FIG. 6 is a perspective view of the non-limiting articulation control system of FIGS.
3-5 with a portion thereof shown in cross-section;
FIG. 7 is a cross-sectional plan view of the non-limiting articulation control system
of FIGS. 3-6 with the end effector articulated in a first articulation direction;
FIG. 8 is another cross-sectional plan view of the non-limiting articulation control
system of FIGS. 3-7 with the end effector in an unarticulated orientation;
FIG. 9 is another cross-sectional plan view of the non-limiting articulation control
system of FIGS. 3-8 with the end effector articulated in a second articulation direction;
FIG. 10 is a perspective view of a non-limiting articulation control system embodiment
of at least one other form of the present disclosure;
FIG. 11 is a perspective view of the non-limiting articulation control system of FIG.
10 with the rotation nozzle omitted for clarity;
FIG. 12 is a perspective view of the non-limiting articulation control system of FIGS.
10 and 11 with some components thereof shown in cross-section;
FIG. 13 is an exploded assembly view of the non-limiting articulation control system
of FIGS. 10-12;
FIG. 14 is a cross-sectional plan view of the non-limiting articulation control system
of FIGS. 10-13 with the end effector articulated in a first articulation direction;
FIG. 15 is another cross-sectional plan view of the non-limiting articulation control
system of FIGS. 10-14 with the end effector in an unarticulated orientation;
FIG. 16 is another cross-sectional plan view of the non-limiting articulation control
system of FIGS. 10-15 with the end effector articulated in a second articulation direction;
FIG. 17 is a perspective view of a non-limiting articulation control system embodiment
of at least one other form of the present disclosure;
FIG. 18 is another perspective view of the non-limiting articulation control system
of FIG. 17 with some components thereof shown in cross-section;
FIG. 19 is an exploded assembly view of the non-limiting articulation control system
of FIGS. 17 and 18 with some components thereof shown in cross-section;
FIG. 20 is another exploded assembly view of the non-limiting articulation control
system of FIGS. 17-19 with some components thereof shown in cross-section;
FIG. 21 is a perspective view of the non-limiting articulation control system of FIGS.
17-20 with the right nozzle portion thereof moved in the first actuation direction;
FIG. 22 is a cross-sectional plan view of the non-limiting articulation control system
of FIGS. 17-21 with the end effector articulated in a first articulation direction;
FIG. 23 is another cross-sectional plan view of the non-limiting articulation control
system of FIGS. 17-22 with the end effector articulated in a second articulation direction;
FIG. 24 is a perspective view of a non-limiting nozzle assembly embodiment of another
form of the present disclosure;
FIG. 25 is a cross-sectional view of the nozzle assembly of FIG. 24 taken along line
25-25 in FIG. 24;
FIG. 26 is a perspective view of a non-limiting articulation control system embodiment
of at least one other form of the present disclosure;
FIG. 27 is a perspective view of a portion of the non-limiting articulation control
system embodiment of FIG. 26;
FIG. 28 is another perspective view of the portion of the non-limiting articulation
control system embodiment of FIG. 27 with a portion shown in cross-section;
FIG. 29 is an exploded assembly view of the non-limiting articulation control system
of FIGS. 26-28;
FIG. 30 is a side elevation view of a portion of the non-limiting articulation control
system of FIGS. 26-29;
FIG. 31 is a cross-sectional plan view of the non-limiting articulation control system
of FIGS. 26-30 with the end effector articulated in a first articulation direction;
FIG. 32 is another cross-sectional plan view of the non-limiting articulation control
system of FIGS. 26-31 with the end effector in an unarticulated orientation;
FIG. 33 is another cross-sectional plan view of the non-limiting articulation control
system of FIGS. 26-32 with the end effector articulated in a second articulation direction;
FIG. 34 is a perspective view of a non-limiting articulation control system embodiment
of at least one other form of the present invention;
FIG. 35 is a perspective view of a portion of the non-limiting articulation control
system embodiment of FIG. 34;
FIG. 36 is a rear perspective view of the non-limiting articulation control system
embodiment of FIGS. 34 and 35;
FIG. 37 is a cross-sectional perspective view of the non-limiting articulation control
system embodiment of FIGS. 34-36;
FIG. 38 is an exploded assembly view of the non-limiting articulation control system
embodiment of FIGS. 34-37;
FIG. 39 is a cross-sectional view of the non-limiting articulation control system
embodiment of FIGS. 34-38;
FIG. 40 is another cross-sectional view of the non-limiting articulation control system
embodiment of FIGS. 34-39 with the end effector articulated in a first articulation
direction;
FIG. 41 is another cross-sectional view of the non-limiting articulation control system
embodiment of FIGS. 34-40;
FIG. 42 is a cross-sectional view of the non-limiting articulation control system
embodiment of FIGS. 34-41 with the end effector articulated in a second articulation
direction;
FIG. 43 is a perspective view of another non-limiting articulation control system
embodiment of the present invention;
FIG. 44 is an exploded assembly view of the non-limiting articulation control system
embodiment of FIG. 43;
FIG. 45 is another exploded assembly view of the non-limiting articulation control
system embodiment of FIGS. 43 and 44;
FIG. 46 is another exploded assembly view of the non-limiting articulation control
system embodiment of FIGS. 43-45;
FIG. 47 is a cross-sectional view of the non-limiting articulation control system
embodiment of FIGS. 43-46 in an unlocked position;
FIG. 48 is an enlarged cross-sectional view of a portion of the non-limiting articulation
control system embodiment of FIGS. 43-47 in an unlocked position;
FIG. 49 is a cross-sectional view of the non-limiting articulation control system
embodiment of FIGS. 43-48 in a locked position; and
FIG. 50 is an enlarged cross-sectional view of a portion of the non-limiting articulation
control system embodiment of FIGS. 43-49 in a locked position.
DETAILED DESCRIPTION
[0013] Certain exemplary embodiments will now be described to provide an overall understanding
of the principles of the structure, function, manufacture, and use of the instruments
and exemplary methods disclosed herein. One or more examples of these embodiments
are illustrated in the accompanying drawings. Those of ordinary skill in the art will
understand that the devices and exemplary methods specifically described herein and
illustrated in the accompanying drawings are non-limiting exemplary embodiments and
that the scope of the various embodiments of the present invention is defined solely
by the claims. Reference throughout the specification to "various embodiments," "some
embodiments," "one embodiment," or "an embodiment", or the like, means that a particular
feature, structure, or characteristic described in connection with the embodiment
is included in at least one embodiment. Thus, appearances of the phrases "in various
embodiments," "in some embodiments," "in one embodiment", or "in an embodiment", or
the like, in places throughout the specification are not necessarily all referring
to the same embodiment. Furthermore, the particular features, structures, or characteristics
may be combined in any suitable manner in one or more embodiments. Thus, the particular
features, structures, or characteristics illustrated or described in connection with
one embodiment may be combined, in whole or in part, with the features structures,
or characteristics of one or more other embodiments without limitation.
[0014] The terms "proximal" and "distal" are used herein with reference to a clinician manipulating
the handle portion of the surgical instrument. The term "proximal" referring to the
portion closest to the clinician and the term "distal" referring to the portion located
away from the clinician. It will be further appreciated that, for convenience and
clarity, spatial terms such as "vertical", "horizontal", "up", "down", "right" and
"left" may be used herein with respect to the drawings. However, surgical instruments
are used in many orientations and positions, and these terms are not intended to be
limiting and/or absolute.
[0015] Various exemplary instruments and exemplary methods are provided for performing laparoscopic
and minimally invasive surgical procedures. However, the person of ordinary skill
in the art will readily appreciate that the various methods and instruments disclosed
herein can be used in numerous surgical procedures and applications including, for
example, in connection with "open" surgical procedures. As the present Detailed Description
proceeds, those of ordinary skill in the art will further appreciate that the various
instruments disclosed herein can be inserted into a body in any way, such as through
a natural orifice, through an incision or puncture hole formed in tissue, etc. The
working portions or end effector portions of the instruments can be inserted directly
into a patient's body or can be inserted through an access device such as a trocar
that has a working channel through which the end effector and elongated shaft of a
surgical instrument can be advanced.
[0016] Turning to the Drawings wherein like numerals denote like components throughout the
several views, FIG. 1 depicts one embodiment of a surgical stapling and severing instrument
10. Various portions of the instrument 10 may be identical to portions of the devices
disclosed in
U.S. Patent No. 7,670,334 and/or
U.S. Patent No. 7,000,818, entitled "Surgical Stapling Instrument Having Separate Distinct Closing and Firing
Systems".
[0017] As shown in FIG. 1, in one non-limiting form, the surgical instrument 10 generally
includes a handle 12, a shaft 14 and an articulating end effector 20 that is pivotally
connected to the shaft 14 at articulation pivot 16. An articulation control 200 is
provided to effect rotation of the end effector 20 about the articulation pivot 16.
The end effector 20 is shown configured to act as an endocutter for clamping, severing
and stapling tissue. However, those of ordinary skill in the art will understand that
various embodiments of the present invention may include end effectors (not shown)
that are configured to act as other surgical devices including, for example, graspers,
cutters, staplers, clip appliers, access devices, drug/gene therapy delivery devices,
ultrasound, RF, or laser energy devices, etc.
[0018] The handle 12 of the instrument 10 may include a closure trigger 30 and a firing
trigger 40 for actuating the end effector 20. It will be appreciated that instruments
having end effectors directed to different surgical tasks may have different numbers
or types of triggers or other suitable controls for operating an end effector. The
end effector 20 is shown separated from a handle 12 by the elongate shaft 14 that
defines a longitudinal axis A-A. A clinician may articulate the end effector 20 relative
to the shaft 14 about an articulation axis B-B that is substantially transverse to
the longitudinal axis A-A (articulation pivot 16) utilizing the articulation control
200 as will be discussed in further detail below. As used herein, the phrase, "substantially
transverse to the longitudinal axis" where the "longitudinal axis" is the axis of
the shaft 14, refers to a direction that is nearly perpendicular to the longitudinal
axis. It will be appreciated, however, that directions that deviate some from perpendicular
to the longitudinal axis are also substantially transverse to the longitudinal axis.
[0019] FIG. 2 shows an exploded view of the end effector 20 and elongate shaft 14 including
various internal components. An end effector frame 90 and shaft frame 100 are configured
to be joined at articulation pivot 50 which defines an articulation axis B-B (FIG.
1). The shaft frame 100 is supported by the handle 12 in a known manner. As such,
the construction of shaft frame 100 will not be discussed in great detail herein beyond
that which is necessary to understand the various embodiments of the present invention.
In various embodiments, for example, the end effector frame 90 has a boss 96 integrally
formed or otherwise attached thereto that is coupled to a distally directed tang 102
on the shaft frame 100 defining an aperture 104. The aperture 104 may be positioned
to interface with an articulation pin (not shown) included in end effector frame 90
allowing the end effector frame 90 to pivot relative to the shaft frame 100, and accordingly,
the end effector 20 to pivot relative to the shaft 14. When assembled, the various
components may pivot about articulation pivot 50 at articulation axis B-B as shown
in FIG. 1.
[0020] As can be further seen in FIG. 2, in one non-limiting form, the end effector 20 includes
an elongate channel 110 that is sized and configured to removably support a staple
cartridge 120 therein. The elongate channel 110 is attached to the end effector frame
90 by a pair of frame tabs 93 that extend into corresponding slots 115 in the elongate
channel 110. The staple cartridge 120 may comprise a molded cartridge body 122 that
operably supports a plurality of staples 124 resting upon corresponding staple drivers
126 within respective upwardly open staple apertures 128. In this non-limiting embodiment,
the end effector 20 also includes an anvil 130 that is coupled to the elongate channel
110. A pair of apertures 112 may be provided in elongate channel 110 to movably receive
trunnions or pins 132 on the anvil 130, allowing the anvil 120 to pivot from an open
position to a closed position relative to the elongate channel 110 and staple cartridge
120 in response to opening and closing motions received from a closure tube assembly
140. Such closing motions may also be used to effectively actuate the jaws of other
types of end effectors as is known.
[0021] As can also be seen in FIG. 2, the closure tube assembly 140 employs a "double pivot"
closure sleeve assembly 142. It will be appreciated that the invention is not limited
to a double pivot closure sleeve design and may include any suitable closure sleeve
arrangement. In various non-limiting embodiments, for example, the double pivot closure
sleeve assembly 142 includes a proximal closure tube segment 141 that has upper and
lower distally projecting tangs 146, 148. An end effector closure tube section 150
includes a horseshoe aperture 152 and tab 154 for engaging an opening tab 134 on the
anvil 130. As is known, when the end effector closure tube section 150 is advanced
distally on the end effector frame 90, the horseshoe aperture applies a closing motion
to the tab 134 to move the anvil 130 toward the staple cartridge 120. When the end
effector closure tube 150 is withdrawn in the proximal direction, the tab 154 engages
the tab 134 to move the anvil 130 away from the staple cartridge 120 to an open position.
The closure tube section 150 is shown having upper 156 and lower (not visible) proximally
projecting tangs.
[0022] The end effector closure tube section 150 is pivotally attached to the proximal closure
tube segment section 141 by an upper double pivot link 160 and a lower double pivot
link 170. The upper double pivot link 160 includes upwardly projecting distal and
proximal pivot pins 162, 164 that engage respectively an upper pin hole 157 in the
upper proximally projecting tang 156 and an upper proximal pin hole 147 in the upper
distally projecting tang 146. A lower double pivot link 170 includes downwardly projecting
distal and proximal pivot pins (not shown) that engage respectively a lower distal
pin hole in the lower proximally projecting tang and a lower proximal pin hole 149
in the lower distally projecting tang 148. In use, the closure sleeve assembly 140
is translated distally to close the anvil 130, for example, in response to the actuation
of the closure trigger 30.
[0023] The device 10 further includes a firing bar 180 that is configured to longitudinally
translate through the shaft 14, through the flexible closure and pivoting frame articulation
joint 50, and through a firing slot 91 in the end effector frame 90 into the end effector
20. The firing bar 180 may be constructed from one solid section, or in various embodiments,
may include a laminate material comprising, for example, a stack of steel plates 182.
It will be appreciated that a firing bar 180 made from a laminate material may lower
the force required to articulate the end effector 20. A distally projecting end of
the firing bar 180 is attached to an E-beam 184 that assists in spacing the anvil
130 from the staple cartridge 120 when the anvil 130 is in a closed position. A sharpened
cutting edge 186 of the E-beam 184 may also be used to sever tissue.
[0024] In operation, the E-beam 184 actuates the staple cartridge 120. A wedge sled 190
is driven distally by the E-beam 184, sliding upon a cartridge tray 192 that holds
together the various components of the replaceable staple cartridge 120. The wedge
sled 192 upwardly cams the staple drivers 126 to force out the staples 124 into deforming
contact with the anvil 130 while a cutting surface 186 of the E-beam 184 severs clamped
tissue. The firing bar 180 is movably supported within the shaft 14 such that it passes
through the cartridge 120 when the instrument 10 is fired (e.g., actuated). In at
least one non-limiting embodiment, the firing bar 180 is instead positioned within
the shaft 14 such that all or a portion of the body of the firing bar element 180
is supported by a slot (not shown) in the anvil 130 during firing. Because the anvil
130 may be stronger than the cartridge 120, support from the slot may prevent the
firing bar 180 from buckling, even when high loads are applied to the distal end of
the firing bar 180. This may be useful in embodiments where the firing bar element
182 includes laminate plates 182.
[0025] Various E-beam configurations also include upper pins 188 that are configured to
engage the anvil 130 during firing while middle pins 185 and a bottom foot 187 engage
various portions of the cartridge body 122, cartridge tray 192 and elongate channel
110. In use, a centrally disposed slot 123 in the cartridge body 122 aligns with a
slot 193 in the cartridge tray 190 and with a slot 113 in the elongate channel 110.
The leading edge of E-beam 184 slides through the aligned slots 123, 193, and 113.
As the firing bar 180 is advanced distally, the foot 187 is braced against the bottom
of channel 110 and the upper pins 180 are braced in a groove 131 in the bottom surface
of the anvil 130 to prevent the anvil 130 and channel 110 from being forced apart
from resistance of tissue. Thereafter, the firing bar 180 is retracted proximally,
retracting as well the E-beam 184, allowing the anvil 130 to be opened to release
the two stapled and severed tissue portions (not shown).
[0026] In various non-limiting embodiments, a spring clip 195 is mounted in the end effector
frame 90 as a lockout for firing bar 180. Distal and proximal square apertures 192,
193 formed on top of the end effector frame 90 may define a clip bar 196 therebetween
that receives a top arm 197 of a clip spring 195 whose lower, distally extended arm
198 asserts a downward force on a raised portion 183 of the firing bar 180 as is known.
It will be appreciated that various embodiments may include other types of lockouts
or no lockouts at all.
[0027] In the various embodiments depicted in FIGS. 1 and 3-9, the end effector 20 is selectively
rotatable about the longitudinal axis A-A and selectively articulatable about articulation
axis B-B relative to the proximal shaft segment 141 by the articulation control system
200. In various non-limiting embodiments, the articulation control system 200 includes
a nozzle 210 that is rotatably supported relative to the handle 12. In the embodiments
depicted in FIGS. 3-9, the nozzle 210 has proximal end portion 212 that tapers to
a distal end portion 214. To facilitate easy rotation of the nozzle 210 about the
longitudinal axis A-A by a portion of the same hand in which the clinician is gripping
the handle 12, a plurality of radially protruding actuation buttons 216 are formed
around the proximal end 212 of the nozzle 210 as shown. The clinician may then rotate
the nozzle 210 relative to the handle with his or her index finger or other finger
or portion of their hand that is supporting the handle 12.
[0028] Turning to FIGS. 3 and 4, it can be seen that the nozzle 210 may be provided in multiple
pieces for assembly purposes. In the illustrated embodiment, for example, the nozzle
210 is formed from a lower nozzle portion 211 and an upper nozzle portion 213. Lower
and upper nozzle portions 211, 213 may be fabricated from, for example, glass-filled
polycarbonate or other suitable material and be interconnected together by appropriate
adhesive, welding, snap features, screws, frictional posts/holes, etc. In various
non-limiting embodiments, the nozzle 210 is pivotally pinned to the proximal closure
tube segment 141 by upper and lower pins 220, 222, respectively. The proximal closure
tube segment 141 may be fabricated in multiple segments for assembly purposes. Those
of ordinary skill in the art will appreciate that the proximal portion of the proximal
closure tube segment 141 will interface with known components for attaching or communicating
with the closure trigger of the device. For example, such arrangements are disclosed
in
U.S. Patent No. 7,000,818. However, the actuation of the closure tube assembly may be controlled by a myriad
of other known trigger and handle arrangements without departing from the scope of
the present invention. In the embodiment depicted in FIGS. 3-6, the proximal closure
tube segment 141 is fabricated from a lower shaft segment 143 and an upper shaft segment
145. In various embodiments, the lower and upper shaft segments 143, 145 may be fabricated
from stainless
steel or other suitable material and be connected together by an appropriate adhesive
or other suitable fastener arrangement to form a substantially hollow tubular structure
to accommodate various components of the articulation control system 200 such as an
articulation assembly 230 as well as the firing bar 182, shaft frame 100, etc.
[0029] As can be seen in FIGS. 3 and 6, in various non-limiting embodiments, the upper pin
220 is rotatably received within a hole 149 in the upper shaft segment 145 and the
lower pin 222 is rotatably received in a lower hole 147 in the lower shaft segment
143. The upper and lower pins 220, 222 are coaxially aligned and define a nozzle axis
C-C about which the nozzle 210 may pivot relative to the proximal closure tube segment
141. As can be most particularly seen in FIG. 6, a hole 219 is provided through the
proximal end 214 of the nozzle 210. The hole 219 is sized relative to the proximal
closure tube segment 141 to permit the nozzle 210 to be pivoted about the nozzle axis
C-C as will be discussed in further detail below.
[0030] In the non-limiting embodiment of FIG. 2, the articulation control system 200 includes
an articulation assembly 230. In at least one embodiment, the articulation assembly
230 may comprise a right articulation rod 232 and a left articulation rod 234. The
right and left articulation rods 232, 234 may be configured as shown in FIGS. 2 and
3 and be fabricated from stainless steel or other suitable material. The articulation
assembly 230 comprises a right articulation rod 232 and a left articulation rod 234
that, when received within the proximal closure tube segment 141, may be axially moved
therein relative to each other as will be discussed in further detail below. As can
be seen in FIG. 2, the right and left articulation rods 232, 234 define a centrally
disposed elongate slot 236 that is configured to accommodate the axial movement of
the firing bar 180 therebetween. A right articulation band 238 protrudes distally
from a distal end 233 of the right articulation rod 232 and a left articulation band
240 protrudes distally from the distal end 239 of the left articulation rod 234. See
FIG. 2. In various non-limiting embodiments, the articulation bands 238, 240 are attached
to the boss 96. For example, the bands 238, 240 may be pivotally pinned to the boss
96.
[0031] The articulation assembly 230 is configured to interface with the nozzle 210 such
that pivotal travel of the nozzle 210 about the nozzle axis C-C results in the axial
actuation of the right and left articulation rods 232, 234 which ultimately causes
the end effector 20 to articulate about articulation axis B-B. More specifically and
with reference to FIGS. 3, 5, and 6-9, the right articulation rod 232 has a right
pivot pin 250 that is attached thereto and protrudes laterally therefrom through a
right slot 251 in the proximal closure tube segment 141. The end of the right pivot
pin 250 extends into a right socket or aperture 252 in the nozzle 210. Similarly,
the left articulation rod 234 has a left pivot pin 254 that is attached thereto and
protrudes laterally therefrom through a left slot 255 in the proximal closure tube
segment 141. The end of the left pivot pin 254 extends into a socket or aperture 256
in the nozzle 210.
[0032] The operation of the articulation control system 200 can be understood from reference
to FIGS. 7-9. FIG. 7 illustrates articulation of the end effector 20 to the left of
the articulation pivot 50 (about articulation axis B-B - shown in FIG. 1). To accomplish
this range of articulation, the clinician pivots the nozzle 210 in the first actuation
direction represented by arrow "E" in FIG. 7. When the nozzle 210 is pivoted in the
"E" direction, the right articulation rod 232 is moved in the distal direction "DD"
and the left articulation rod 234 is moved in the proximal direction "PD". Such movement
of the right and left articulation rods 232, 234 result in the application of a pushing
motion to the boss 96 by the right articulation band 238 and a pulling motion to the
boss 96 by the left articulation band 240 which results in the articulation of the
end effector 20 as shown. FIG. 8 illustrates the end effector 20 in coaxial alignment
with the shaft 14 (e.g., in an unarticulated position). Such end effector orientation
may be employed, for example, during insertion of the end effector 20 through a trocar
cannula (not shown) or other opening in the patient. FIG. 9 illustrates articulation
of the end effector 20 to the right of the articulation pivot 50 (about articulation
axis B-B - shown in FIG. 1). To accomplish this range of articulation, the clinician
pivots the nozzle 210 in a second actuation direction represented by arrow "F" in
FIG. 9. When the nozzle 210 is pivoted in the "F" direction, the right articulation
rod 232 is moved in the proximal direction "PD" and the left articulation rod 234
is moved in the distal direction "DD". Such movement of the right and left articulation
rods 232, 234 result in the application of a pushing motion to the boss 96 by the
left articulation band 240 and a pulling motion to the boss 96 by the right articulation
band 238 which results in the articulation of the end effector 20 as shown. The end
effector 20 may be rotated about the longitudinal axis simply by rotating the nozzle
210 about the longitudinal axis A-A. This action may be accomplished by a portion
of the hand that is supporting the handle portion of the device, thereby avoiding
the need for both hands to rotate the end effector about the longitudinal axis. Although
the articulation assembly 230 as described above employs two elongated articulation
rods or members, in alternative embodiments, only one elongated articulation member
is employed.
[0033] FIGS. 10-16 illustrate another non-limiting articulation control system embodiment
of the present disclosure generally designed as 300 that is similar to the articulation
control system 200 described above, except for the differences noted below. Those
components that are the same as the components employed in the above-described embodiments
will be labeled with the same element numbers and those of ordinary skill in the art
can refer to the disclosure set forth hereinabove that explains their construction
and operation. As can be seen in FIG. 10, articulation control system 300 employs
a separate rotation nozzle 302 for controlling the rotation (arrow "G" in FIG. 10)
of the closure tube assembly 140 and ultimately, the end effector 12. As can be seen
in FIG. 13, in at least one embodiment, the rotation nozzle 302 is fabricated from
an upper rotation nozzle portion 303 and a lower rotation nozzle portion 304 that
is attached to the upper rotation nozzle portion 303 by, for example frictional posts
and sockets 341, 343. However, the nozzle portions 303, 304 may be attached together
by other suitable means such as adhesive, welding, snap features, screws, etc. The
upper rotational nozzle portion 303 and the lower rotational nozzle portion 304 are
attached to the proximal closure tube segment 141. In at least one embodiment, for
example, the upper rotational nozzle section 303 is keyed to the upper shaft segment
145 by a key 305 that extends through an opening 306 in the upper shaft segment 145
and the lower rotational nozzle section 304 is keyed to the lower shaft segment 143
by a key 307 that extends through an opening 308 in the lower shaft segment 143. However,
the rotational nozzle 302 may be non-rotatably attached to the proximal closure tube
segment 141 by other suitable means such that rotation of the rotational nozzle 302
results in the rotation of the end effector 20 about the longitudinal axis A-A.
[0034] As shown in FIG. 13, the articulation nozzle 310 may be provided in multiple pieces
for assembly purposes. In the illustrated embodiment, for example, the articulation
nozzle 310 is formed from a right nozzle portion 311 and a left nozzle portion 313.
Right and left nozzle portions 311, 313 may be fabricated from, for example, glass-filled
polycarbonate and be interconnected together by frictional posts/holes, 345, 347.
However, the right and left nozzle portions 311, 313 may be attached together by appropriate
adhesive, welding, snap features, screws, etc. In various non-limiting embodiments,
the articulation nozzle 310 is pivotally mounted on upper and lower pins 220, 222,
respectively. The upper pin 220 is attached to the upper shaft segment 145 and the
lower pin 222 is attached to the lower shaft segment 143. The upper and lower pins
220, 222 are coaxially aligned and define a nozzle axis C-C about which the articulation
nozzle 310 may pivot relative to the proximal closure tube segment 141. As can be
most particularly seen in FIG. 11, a hole 319 is provided through the proximal end
314 of the articulation nozzle 310. The hole 319 is sized relative to the closure
tube section 141 to permit the articulation nozzle 310 to be pivoted about the nozzle
axis C-C as will be discussed in further detail below.
[0035] In the non-limiting embodiment of FIG. 13, the articulation control system 300 includes
an articulation assembly 230. In at least one embodiment, the articulation assembly
230 may comprise a right articulation rod 232 and a left articulation rod 234. The
right and left articulation rods 232, 234 may be configured as shown in FIG. 14 and
be fabricated from stainless steel or other suitable material. As was discussed above,
when the right and left articulation rods are received within the proximal closure
tube segment 141, they may be axially moved therein relative to each other. When received
within the proximal closure tube segment 141, the right and left articulation rods
232, 234 define a centrally disposed elongate slot 236 that is configured to accommodate
the axial movement of the firing bar 180. A right articulation band 238 protrudes
distally from a distal end 233 of the right articulation rod 232 and a left articulation
band 240 protrudes distally from the distal end 239 of the left articulation rod 234.
In various non-limiting embodiments, the articulation bands 238, 240 are attached
to the boss 96. For example, the bands 238, 240 may be pivotally pinned to the boss
96.
[0036] The articulation assembly 230 is configured to interface with the articulation nozzle
310 such that pivotal travel of the articulation nozzle 310 about the nozzle axis
C-C results in the actuation of the articulation assembly 230 which ultimately causes
the end effector 20 to articulate about articulation axis B-B at articulation pivot
50. More specifically and with reference to FIGS. 14-17, the right articulation rod
232 has a right pivot pin 320 that is attached thereto and protrudes laterally therefrom
through a right slot 251 in the shaft closure tube section 141. In various non-limiting
embodiments, a ball 321 may be provided on the end of the right pivot pin 320 and
be rotatably received within an aperture 323 in the articulation nozzle 310. Similarly,
the left articulation rod 234 has a left pivot pin 330 that is attached thereto and
protrudes laterally therefrom through a left slot 255 in the proximal closure tube
segment 141. A ball 332 may be provided on the end of the left pivot pin 330 and be
rotatably received within an aperture 334 in the articulation nozzle 310.
[0037] The operation of the articulation control system 300 can be understood from reference
to FIGS. 14-16. FIG. 14 illustrates articulation of the end effector 20 to the left
of the articulation pivot 50. To accomplish this range of articulation, the clinician
pivots the articulation nozzle 310 in the actuation direction represented by arrow
"E" in FIG. 14. When the articulation nozzle 310 is pivoted in the "E" direction,
the right articulation rod 232 is moved in the distal direction "DD" and the left
articulation rod 234 is moved in the proximal direction "PD". Such movement of the
right and left articulation rods 232, 234 result in the application of a pushing motion
to the boss 96 by the right articulation band 238 and a pulling motion to the boss
96 by the left articulation band 240 which results in the articulation of the end
effector 20 as shown. FIG. 15 illustrates the end effector 20 in coaxial alignment
with the shaft 14 (e.g., in an unarticulated position). Such end effector orientation
may be employed, for example, during insertion of the end effector 20 through a trocar
cannula (not shown) or other opening in the patient. FIG. 16 illustrates articulation
of the end effector 20 to the right of the articulation pivot 50. To accomplish this
range of articulation, the clinician pivots the articulation nozzle 310 in the actuation
direction represented by arrow "F" in FIG. 15. When the articulation nozzle 310 is
pivoted in the "F" direction, the right articulation rod 232 is moved in the proximal
direction "PD" and the left articulation rod 234 is moved in the distal direction
"DD". Such movement of the right and left articulation rods 232, 234 result in the
application of a pushing motion to the boss 96 by the left articulation band 240 and
a pulling motion to the boss 96 by the right articulation band 238 which results in
the articulation of the end effector 20 as shown. Although the articulation assembly
230 as described above employs two elongated articulation rods or members, in alternative
embodiments, only one elongated articulation member is employed.
[0038] FIGS. 17-23 illustrate another non-limiting articulation control system embodiment
of the present disclosure generally designated as 400. Those components that are the
same as the components employed in the above-described embodiments will be labeled
with the same element numbers and those of ordinary skill in the art can refer to
the disclosure set forth hereinabove that explains their construction and operation.
In various non-limiting embodiments, the articulation control system 400 includes
an articulation nozzle 410 that is fabricated in multiple pieces. For example, the
articulation nozzle 410 has a right nozzle portion 412 that is axially movable relative
to a left nozzle portion 430. See FIG. 21. In at least one non-limiting embodiment,
the right nozzle portion 412 consists of an upper right portion 414 and a lower right
portion 420. See FIG. 19. The upper and lower right nozzle portions 412, 414 may be
fabricated from, for example, glass-filled polycarbonate or other suitable material.
Similarly, the left nozzle portion 430 consists of an upper left nozzle portion 432
and a lower left nozzle portion 440. The upper and lower left nozzle portions 432,
440 may be fabricated from, for example, glass-filled polycarbonate or other suitable
material.
[0039] As can be seen in FIG. 20, the upper right nozzle portion 414 is provided with a
pair of spaced retention band segments 416 and the lower right nozzle portion 420
is provided with a pair of spaced retention band segments 422. When the upper and
lower right nozzle portions 414, 420 are joined together, the retention band segments
416 in the upper portion 414 cooperate with the retention band segments 422 in the
lower portion 420 to form continuous annular right retention bands, generally designed
as 424, the purpose of which will be discussed in further detail below. Similarly,
the upper left nozzle portion 432 is provided with a pair of spaced retention band
segments 434 and the lower left nozzle portion 440 is provided with a pair of spaced
retention band segments 442. When the upper and lower left nozzle portions 432, 440
are joined together, the retention band segments 434 in the upper portion 432 cooperate
with the retention band segments 442 in the lower portion 440 to form continuous annular
left retention bands, generally designed as 444.
[0040] In at least one non-limiting embodiment, the articulation control system 400 includes
an articulation assembly 230. In at least one embodiment, the articulation assembly
230 may comprise a right articulation rod 232 and a left articulation rod 234. The
right and left articulation rods 232, 234 may be configured as shown in FIG. 19 and
be fabricated from stainless steel or other suitable material. The right and left
articulation rods 232, 234 when movably supported within the proximal closure tube
segment 141 as illustrated, serve to define a centrally disposed elongate slot 236
that is configured to accommodate the axial movement of the firing bar 180. A right
articulation band 238 protrudes distally from a distal end 233 of the right articulation
rod 232 and a left articulation band 240 protrudes distally from the distal end 239
of the left articulation rod 234. In various non-limiting embodiments, the articulation
bands 238, 240 are attached to the boss 96. For example, the bands 238, 240 may be
pivotally pinned to the boss 96. The right and left articulation rods 232, 234 are
slidably inserted into the hollow proximal closure tube segment 141. The right articulation
rod 232 has a right pivot pin 450 that is attached thereto and protrudes laterally
therefrom through a right slot 251 in the shaft closure tube section 141. Similarly,
the left articulation rod 234 has a left pivot pin 460 that is attached thereto and
protrudes laterally therefrom through a left slot 255 in the shaft closure tube section
141. Such arrangement enables the right articulation rod 232 and the second articulation
rod to be independently axially movable within the proximal closure tube segment 141.
The end of the right pivot pin 450 is configured to be received within an aperture
452 formed by the joined upper and lower right nozzle portions 414, 420. Likewise,
the end of the left pivot pin 460 is configured to be received within an aperture
462 formed by the upper and lower left nozzle portions 432, 440.
[0041] To assemble at least one embodiment, the upper nozzle portions 414, 432 are brought
together to form a temporary upper nozzle assembly 433, but remain unattached to each
other as illustrated in FIG. 19. As is also illustrated in FIG. 19, the lower nozzle
portions 420, 440 are brought together to form a temporary lower nozzle assembly 443,
but remain unattached to each other. Then, the temporary upper nozzle assembly 433
is joined to the temporary lower nozzle assembly 443 over the proximal closure tube
segment 141 while capturing the right pivot pin 450 in the right aperture 452 and
the left pivot pin 460 in the left aperture 462. In at least one non-limiting embodiment,
the right upper nozzle portion 414 is provided with attachment posts 415 (FIG. 20)
that are sized to be frictionally fitted into attachment holes 425 in the lower right
nozzle portion to retain those two portions 414, 420 together to form the right nozzle
section 412. Likewise, the lower left nozzle portion 440 is provided with attachment
posts 445 that are sized to be frictionally fitted into attachment holes 435 in the
upper left nozzle portion 432 to retain those two portions 440, 432 together to form
the left nozzle portion 430. However, other fastener arrangements and/or adhesive
may be employed to attach the upper right nozzle portion 414 to the lower right nozzle
portion 420 and the upper left nozzle portion 432 and the lower left nozzle portion
440.
[0042] The operation of the articulation control system 400 can be understood from reference
to FIGS. 22 and 23. FIG. 22 illustrates articulation of the end effector 20 to the
left of the articulation pivot 50. To accomplish this range of articulation, the clinician
axially moves the right nozzle portion 412 in the distal direction "D-D" and the left
nozzle portion 430 in the proximal direction "PD" which causes the right articulation
rod 232 and left articulation rod 234 to move the end effector to the left about the
articulation point 50. Such movement of the right and left articulation rods 232,
234 result in the application of a pushing motion to the boss 96 by the right articulation
band 238 and a pulling motion to the boss 96 by the left articulation band 240 which
results in the articulation of the end effector 20 as shown. FIG. 23 illustrates articulation
of the end effector 20 to the right of the articulation pivot 50. To accomplish this
range of articulation, the clinician axially moves the right nozzle portion 412 in
the proximal direction "PD" and the left nozzle portion 430 in the distal direction
"DD" which causes the right articulation rod 232 and left articulation rod 234 to
move the end effector 20 to the right about the articulation point 50. Such movement
of the right and left articulation rods 232, 234 result in the application of a pushing
motion to the boss 96 by the left articulation band 240 and a pulling motion to the
boss 96 by the right articulation band 238 which results in the articulation of the
end effector 20 as shown. Although the articulation assembly 230 as described above
employs two elongated articulation rods or members, in alternative embodiments, only
one elongated articulation member is employed.
[0043] FIGS. 24 and 25 illustrate an alternative nozzle embodiment 410' that may be employed
instead of the nozzle embodiment 410 described above. In this embodiment, the nozzle
410' is fabricated from a right nozzle portion 412' that is axially movable relative
to a left nozzle portion 430'. As can be seen in those Figures, the left nozzle portion
430' has a left axial opening 460 therein that defines a left axial ledge 462 that
is adapted to be slidably engaged by a right latch portion 470. Likewise the right
nozzle portion 412 has a right axial opening 472 that has a right axial ledge 474
that is adapted to be slidably engaged by a left latch portion 464. Such arrangement
serves to join the right nozzle portion 412' to the left nozzle portion 430 to each
other about the proximal closure shaft 141 while enabling those portions to move axially
relative to each other. The right nozzle portion 412' has a right aperture 452' therein
for receiving the right pivot pin 450 therein and the left nozzle portion 430' has
a left aperture 462' therein for receiving the left pivot pin 460 therein. The alternative
nozzle 410' is otherwise operated in the manner described above to articulate the
end effector 20 about the articulation pivot 50 and articulation axis B-B.
[0044] FIGS. 26-33 illustrate another non-limiting articulation control system embodiment
of the present disclosure generally designated as 500. Those components that are the
same as the components employed in the above-described embodiments will be labeled
with the same element numbers and those of ordinary skill in the art can refer to
the disclosure set forth hereinabove that explains their construction and operation.
In at least one embodiment, the articulation control system 500 includes an articulation
nozzle 510 that is fabricated in multiple pieces. For example, the articulation nozzle
510 has a right nozzle portion 512 that is configured to be attached to a left nozzle
portion 530. See FIG. 29. In at least one non-limiting embodiment, the right nozzle
portion 512 may be provided with attachment posts 513 formed thereon that are sized
to be frictionally received in corresponding attachment apertures (not shown) in the
left nozzle portion 530. The right nozzle portion 512 may likewise have attachment
apertures 515 therein that are sized to frictionally engage corresponding attachment
posts 531 on the left nozzle portion 530 to couple the right and left nozzle portions
512, 530 together. See FIG. 29. Other fastening arrangements such as adhesive, welding,
mechanical fasteners, snap features, etc. may be used to attach the right and left
nozzle portions together. In various non-limiting embodiments, the right nozzle portion
512 has a proximal end 514 with actuation buttons or protrusions 516 formed thereon.
The right nozzle portion 512 further has a distal end 517 that has a key 518 formed
thereon for receipt within a key opening 519 in the proximal closure tube segment
141 to non-rotatably affix the right nozzle portion 512 to the proximal closure tube
segment 141. Similarly, the left nozzle portion 530 has a proximal end 534 with actuation
buttons or protrusions 516 formed thereon. The left nozzle portion 530 further has
a distal end 537 that has a key 538 formed thereon for receipt in a key opening 539
in the proximal closure tube segment 141 to non-rotatably affix the left nozzle portion
530 to the proximal closure tube segment 141. See FIGS. 31-33.
[0045] In at least one non-limiting embodiment, the articulation control system 500 includes
an articulation assembly 230. In at least one embodiment, the articulation assembly
230 may comprise a right articulation rod 232 and a left articulation rod 234. The
right and left articulation rods 232, 234 may be configured as shown in FIG. 29 and
be fabricated from stainless steel or other suitable material. The right and left
articulation rods 232, 234 when movably supported within the proximal closure tube
segment 141 as illustrated, serve to define a centrally disposed elongate slot 236
that is configured to accommodate the axial movement of the firing bar 180. A right
articulation band 238 protrudes distally from a distal end 233 of the right articulation
rod 232 and a left articulation band 240 protrudes distally from the distal end 239
of the left articulation rod 234. In various embodiments, the articulation bands 238,
240 are attached to the boss 96. For example, the bands 238, 240 may be pivotally
pinned to the boss 96. The right and left articulation rods 232, 234 are slidably
inserted into the hollow proximal closure tube segment 141. The right articulation
rod 232 has a right pivot pin 550 that is attached thereto and protrudes laterally
therefrom through a right slot 251 in the proximal closure tube segment 141. Similarly,
the left articulation rod 234 has a left pivot pin 560 that is attached thereto and
protrudes laterally therefrom through a left slot 255 in the proximal closure tube
segment 141.
[0046] In at least one non-limiting embodiment, the articulation control 500 includes an
actuator assembly 562 that protrudes through openings 564, 566 in the nozzle 510 and
is selectively pivotable about an actuator axis H-H that is substantially transverse
to the longitudinal axis A-A. In various forms, the actuator assembly 562 comprises
a first actuator portion 570 that is coupled to a second actuator portion 580. The
first actuator portion 570 has a pivot hole 571 therethrough that is adapted to pivotally
receive a first actuator pin 590 that is coupled to the proximal closure tube segment
141. See FIGS. 28 and 19. Similarly, the second actuator portion 580 has a pivot hole
581 therethrough that is adapted to pivotally receive a second actuator pin 592 that
is coupled to the proximal closure tube segment 141. The first and second actuator
pins 590, 592 serve to define the actuator axis H-H that is substantially transverse
to the longitudinal axis A-A and about which the actuator assembly 562 may pivot.
The first actuator portion 570 may be attached to the second actuator portion 580
by a variety of methods. In the illustrated version, for example, the first actuator
portion 570 has a pair of attachment posts 572 that are sized to be frictionally received
within corresponding attachment holes (not shown) in the second actuator portion 580.
Likewise, the second actuator portion 580 may have attachment posts 580 that are sized
to be frictionally received within attachment holes 574 in the first actuator portion,
such that when the first and second actuator portions 570, 580 are joined together,
the form the actuator assembly 562. However, the first and second actuator portions
570, 580 may be coupled together using any suitable means such as by adhesive, snap
features, fasteners, etc.
[0047] As can be seen in FIGS. 28 and 29, the first actuator portion 570 operably interfaces
with the first articulation rod 232 to effectuate axial movement thereof within the
proximal closure tube segment 141 by means of a first cam slot 576 that is configured
to receive a portion of the right pivot pin 550 therein. Thus, by pivoting the first
actuator portion 570 about the actuator axis H-H, the interaction between the first
cam slot 576 and the right pivot pin 550 will cause the first articulation rod 232
to axially move within the proximal closure tube segment 141. Similarly, the second
actuator portion 580 operably interfaces with the second articulation rod 234 to effectuate
axial movement thereof within the proximal closure tube segment 141 by means of a
second cam slot 586 that is configured to receive a portion of the left pivot pin
560 therein. Thus, when the second actuator portion 580 pivots about the actuator
axis H-H, the interaction between the second cam slot 586 and the left pivot pin 560
will cause the second articulation rod 234 to axially move within the proximal closure
tube segment 141.
[0048] The operation of the articulation control system 500 can be understood from reference
to FIGS. 26 and 31-33. Turning first to FIG. 26, to rotate the proximal closure tube
segment 141 and ultimately end effector 20 (shown in FIGS. 31-33) about the longitudinal
axis AA, the clinician simply rotates the nozzle 510 about the longitudinal axis A-A
as represented by arrow "I" in FIG. 26. FIG. 31 illustrates articulation of the end
effector 20 to the left of the articulation pivot 50. To accomplish this range of
articulation, the clinician simply pivots the actuator assembly 562 in the "J" direction
(illustrated in FIG. 30) about the actuator axis H-H. Such movement of the actuator
assembly 562 results in interaction between the right pivot pin 550 and the right
cam slot 576 which results in the axial movement of the right articulation rod 232
in the distal direction "DD". Such movement of the actuator assembly 562 also results
interaction between the left pivot pin 560 and the left cam slot 586 which simultaneously
results in the axial movement of the left actuator rod 234 in the proximal direction
"PD". Such movement of the right and left articulation rods 232, 234 result in the
application of a pushing motion to the boss 96 by the right articulation band 238
and a pulling motion to the boss 96 by the left articulation band 240 which results
in the articulation of the end effector 20 as shown. FIG. 33 illustrates articulation
of the end effector 20 to the right of the articulation pivot 50. To accomplish this
range of articulation, the clinician pivots the actuator assembly 562 in the "K" direction
(shown in FIG. 30) about the actuator axis H-H. Such movement of the actuator assembly
562 results in interaction between the right pivot pin 550 and the right cam slot
576 which results in the axial movement of the right articulation rod 232 in the proximal
direction "PD". Such movement of the actuator assembly 562 also results interaction
between the left pivot pin 560 and the left cam slot 586 which simultaneously results
in the axial movement of the left actuator rod 234 in the distal direction "DD". Such
movement of the right and left articulation rods 232, 234 result in the application
of a pushing motion to the boss 96 by the left articulation band 240 and a pulling
motion to the boss 96 by the right articulation band 238 which results in the articulation
of the end effector 20 as shown. Although the articulation assembly 230 as described
above employs two elongated articulation rods or members, in alternative embodiments,
only one elongated articulation member is employed.
[0049] FIGS. 34-42 illustrate a non-limiting articulation control system embodiment of the
present invention, generally designated as 600. Those components that are the same
as the components employed in the above-described embodiments will be labeled with
the same element numbers and those of ordinary skill in the art can refer to the disclosure
set forth hereinabove that explains their construction and operation. In this embodiment,
the articulation control system 600 includes an articulation nozzle 610 that is fabricated
in multiple pieces. For example, the articulation nozzle 610 has an upper nozzle portion
612 that is configured to be attached to a lower nozzle portion 630. See FIG. 38.
In at least one non-limiting embodiment, the upper nozzle portion 612 may be provided
with attachment posts (not shown) formed thereon that are sized to be frictionally
received in corresponding attachment apertures 631 in the lower nozzle portion 630.
Other fastening arrangements such as adhesive, mechanical fasteners, snap features,
etc. may be used to attach the upper and lower nozzle portions 612, 630 together.
In various non-limiting embodiments, the upper nozzle portion 612 has a proximal end
614 with actuation buttons or protrusions 616 formed thereon. Similarly, the lower
nozzle portion 630 has a proximal end 634 with actuation buttons or protrusions 616
formed thereon.
[0050] In at least one non-limiting embodiment, the articulation control system 600 includes
an articulation assembly 700. In at least one embodiment, the articulation assembly
700 may comprise a right articulation band 710 and a left articulation band 730 that
are received with a proximal closure tube segment 750. The right articulation band
710 has an elongated right band portion 712 and a proximal actuation portion 714.
Similarly the left articulation band 730 has a left elongated band portion 732 and
a proximal actuation portion 734. The right and left articulation bands 710, 730 may
be fabricated from stainless steel or other suitable material. The proximal closure
tube segment 750 comprises a hollow tube that may be fabricated from, for example,
stainless steel or other suitable material. In at least one non-limiting embodiment,
the hollow proximal closure shaft segment 750 has a right band passage 752 and a left
band passage 754 formed in its wall. The center of the proximal closure tube segment
750 provides a passage to accommodate the device's proximal frame or spine portion
(not shown) as well as the firing bar (not shown) in the various manners described
above. As illustrated in FIG. 38, the elongated right articulation band portion 712
is slidably supported within the right band passage 752 and the elongated left articulation
band portion 732 is slidably supported in the left band passage 754. In various non-limiting
embodiments, the articulation bands 712, 732 are attached to the boss 96. See FIGS.
40 and 42. For example, the bands 238, 240 may be pivotally pinned to the boss 96.
The right and left articulation rods 232, 234 are slidably inserted into the hollow
proximal closure tube segment 141. The right articulation rod 232 has a right pivot
pin 550 that is attached thereto and protrudes laterally therefrom through a right
slot 251 in the proximal closure tube segment 141. Similarly, the left articulation
rod 234 has a left pivot pin 560 that is attached thereto and protrudes laterally
therefrom through a left slot 255 in the proximal closure tube segment 141.
[0051] The nozzle 610 is non-rotatably affixed to the proximal closure shaft segment 700
such that rotation of the nozzle 610 about the longitudinal axis A-A will result in
the rotation of the end effector 20 about the longitudinal axis A-A. In at least one
non-limiting embodiment, the nozzle 610 has a key 613 that extends into a slot 751
in the proximal closure tube segment 750. See FIG. 38. Such arrangement serves to
non-rotatably affix the nozzle 610 to the proximal closure tube segment 750 while
facilitating the axial movement of the nozzle 610 relative thereto. As can also be
seen in FIGS. 37 and 38, the upper nozzle portion 612 further has an actuation notch
640 formed therein that is configured to operably engage an actuation pivot member
or pivot plate 650. In at least one non-limiting embodiment, the pivot plate 650 comprises
a right pivot plate portion 652 and a left pivot plate portion 670. The right pivot
portion has a pivot pin 654 formed therein that is adapted to be pivotally received
within a pivot hole 780 in the proximal closure tube segment 750. See FIG. 42. Similarly,
the left pivot plate portion 670 has a right pivot pin 672 formed therein that is
adapted to be pivotally received within a pivot hole 682 in the proximal closure tube
segment 750. The right and left pivot pins 654, 672 are coaxially aligned with each
other to define an actuation axis L-L about which the pivot plate 650 may pivot and
which is substantially transverse to the longitudinal axis "L-L". The right and left
pivot plate portions 650, 670 are attached together by posts (not shown) and holes
655 that are designed for frictional engagement. The right and left pivot plate portions
650, 670 may also be attached together by adhesive or other suitable fastener arrangement.
As can be seen in FIGS.36, 37, and 39 the proximal closure tube segment 750 has upper
and lower clearance slots 753, 755 therein to facilitate pivotal travel of the pivot
plate 650 about the actuation axis L-L (FIG. 36).
[0052] As can be further seen in FIGS. 37-40 and 41, the right pivot plate portion 650 has
a lower right actuation slot 656 that is configured to align with a corresponding
lower left actuation slot 674 in the left pivot plate portion 670 to form a lower
actuation slot 676 in the pivot plate 650 for receiving and operably engaging an actuator
tab 716 formed on the actuator portion 714 of the actuator band assembly 710. The
right pivot plate portion 650 has an upper right articulation slot 658 that is configured
to align with a corresponding upper left articulation slot (not shown) in the left
pivot plate portion 670 to form an upper articulation slot 678 in the pivot plate
650 for receiving and operably engaging an actuator tab 736 formed on the actuator
portion 734 of the actuator band assembly 730.
[0053] The operation of the articulation control system 600 can be understood from reference
to FIGS. 39-42. Turning first to FIGS. 39 and 40, to pivot the end effector 20 in
the right direction about the pivot point 50, the clinician axially pushes the nozzle
610 axially in the distal direction "DD". Such movement of the nozzle 610 in the distal
direction "DD" causes the pivot plate 650 to pivot about the actuation axis L-L in
the "M" direction (FIG. 39) thereby pushing the left articulation band assembly 730
in the distal direction "DD" and pulling the right articulation band assembly 750
in the proximal direction "PD". Such axial movement of the nozzle 610 and the right
and left articulation band assemblies 710, 730 result in the application of a pushing
motion to the boss 96 by the left articulation band assembly 730 and a pulling motion
to the boss 96 by the right articulation band assembly 710 which results in the articulation
of the end effector 20 as shown in FIG. 40. Likewise, to pivot the end effector 20
about the pivot point 50 in the left direction (FIG. 42), the clinician pulls the
nozzle 610 in the proximal direction "PD". Such movement of the nozzle 610 in the
proximal direction "PD" causes the pivot plate 650 to pivot about the actuation axis
L-L in the "N" direction (FIG. 41) thereby pushing the right articulation band assembly
710 in the distal direction "DD" and pulling the left articulation band assembly 750
in the proximal direction "PD". Such axial movement of the nozzle 610 and the right
and left articulation band assemblies 710, 730 result in the application of a pushing
motion to the boss 96 by the right articulation band assembly 710 and a pulling motion
to the boss 96 by the left articulation band assembly 730 which results in the articulation
of the end effector 20 as shown in FIG. 42. To rotate the end effector 20 about the
longitudinal axis A-A, the clinician simply rotates the nozzle 610 about the longitudinal
axis A-A. Such action may be accomplished by a portion of eth same hand that is supporting
the handle of the instrument. Although the articulation assembly 230 as described
above employs two elongated articulation rods or members, in alternative embodiments,
only one elongated articulation member is employed.
[0054] FIGS. 43-50 illustrate another articulation control system embodiment of the present
invention, generally designated as 800. Those components that are the same as the
components employed in the above-described embodiments will be labeled with the same
element numbers and those of ordinary skill in the art can refer to the disclosure
set forth hereinabove that explains their construction and operation. In at least
one non-limiting embodiment, the articulation control system 800 includes an articulation
nozzle 810 that is fabricated in multiple pieces. For example, the articulation nozzle
810 has a first nozzle portion 812 that is configured to be attached to a second nozzle
portion 830. See FIGS. 44-46. In at least one non-limiting embodiment, the right nozzle
portion 812 and left nozzle portion 830 are attached together by a collection of posts
813 that are frictionally received in corresponding apertures 815. Other fastening
arrangements such as adhesive, mechanical fasteners, snap features, etc. may be used
to attach the first and second nozzle portions 812, 830 together. In various non-limiting
embodiments, the first nozzle portion 812 has a proximal end 814 with actuation buttons
or protrusions 816 formed thereon. Similarly, the second nozzle portion 830 has a
proximal end 834 with actuation buttons or protrusions 816 formed thereon.
[0055] In at least one non-limiting embodiment, the articulation control system 800 includes
a selectively lockable articulation assembly 900. In at least one non-limiting embodiment,
the articulation assembly 900 may comprise a right articulation band 910 and a left
articulation band 930 that are received with a spine segment 850 that is affixed to
the instrument handle (not shown). The right articulation band 910 has an elongated
right band portion 912 and a proximal actuation portion 914 that has a right actuation
tab 916 formed thereon. Similarly the left articulation band 930 has a left elongated
band portion 932 and a proximal actuation portion 934 that has a left actuation tab
936 formed thereon. The right and left articulation bands 910, 930 may be fabricated
from stainless steel or other suitable material.
[0056] In various non-limiting embodiments, the spine segment 850 comprises a hollow tube
that may be fabricated from, for example, stainless steel or other suitable material.
In at least one non-limiting embodiment, the hollow spine segment 850 has a right
band passage 852 and a left band passage 854 formed in its wall. The center of the
spine segment 850 provides a passage 851 sized and configured to accommodate the device's
proximal frame or spine portion 100 (shown in FIG. 2) as well as the firing bar 180
(shown in FIG. 2) in the various manners described above. As illustrated in FIG. 47,
the elongated right articulation band portion 912 is slidably supported within the
right band passage 852 and the elongated left articulation band portion 932 is slidably
supported in the left band passage 854. In various non-limiting embodiments, the articulation
bands 912, 932 are attached to the boss 96 of the end effector frame 90 as was discussed
above.
[0057] As can be seen in FIGS. 44-47 and 49, in at least one non-limiting embodiment, the
right and left actuation tabs 916, 936 are configured for operable engagement with
an actuation or pivot plate 980. In various embodiments, the pivot plate 980 comprises
a first pivot plate portion 982 and a second pivot plate portion 990. The first pivot
plate portion 982 has a first pivot pin 984 formed thereon that is adapted to be pivotally
received within a first pivot hole 853 in the spine segment 850. See FIGS. 44 and
46. Similarly, the second pivot plate portion 990 has a second pivot pin 992 formed
thereon that is adapted to be pivotally received within a second pivot hole 852 in
the spine segment 850. The first pivot pin 984 also extends through an elongated first
slot 954 in a proximal closure tube segment 950. Similarly the second pivot pin 992
extends through an elongated second slot 956 in the proximal closure tube segment
950. Such arrangement enables the proximal closure tube segment 950 to move axially
on the spine segment 850 while facilitating pivotal travel of the pivot plate 980
relative thereto. The first and second pivot pins 984, 992 are coaxially aligned with
each other to define an actuation axis N-N about which the pivot plate 980 may pivot
and which is substantially transverse to the longitudinal axis "A-A". See FIG. 45.
The first and second pivot plate portions 982, 990 are attached together by posts
983 and holes 993 that are designed for frictional engagement. The first and second
pivot plate portions 982, 990 may also be attached together by adhesive, welding,
snap features or other suitable fastener arrangements.
[0058] As can be seen in FIG. 49, the spine segment 850 has a right tab slot 860 through
which right actuator tab 916 extends. The spine segment 850 further has a left tab
slot 862 through which the left articulation tab 936 extends. In addition, the right
actuator tab 916 extends through a right slot 960 in the proximal closure tube segment
950 and the left actuator tab 936 extends through a left slot 962 in the proximal
closure tube segment 950. As can be further seen in FIGS. 44-47, the first pivot plate
portion 982 has a right actuation slot 987 that is configured to align with a corresponding
right actuation slot (not shown) in the second pivot plate portion 990 to form a right
articulation slot 995 in the pivot plate 980 for receiving and operably engaging the
right actuator tab 916 therein. Similarly, the right pivot plate portion 982 has a
left actuation slot 988 that is configured to align with a corresponding left actuation
slot 996 in the second pivot plate portion 990 to form a left articulation slot 997
in the pivot plate 980 for receiving and operably engaging the left actuator tab 936
therein.
[0059] In various non-limiting embodiments, the articulation nozzle 810 is non-rotatably
affixed to a proximal closure shaft segment 950 such that rotation of the articulation
nozzle 810 about the longitudinal axis A-A will result in the rotation of the end
effector 20 about the longitudinal axis A-A. In at least one non-limiting embodiment,
the articulation nozzle 810 has a key 818 that extends into a corresponding elongated
slot 951 in the proximal closure tube segment 950 and corresponding slot 859 in the
spine segment 850 as shown in FIG. 49. Such arrangement facilitates the axial movement
of the articulation nozzle 810 relative to the proximal closure tube segment 950 and
spine segment 950 while also facilitating the rotation of the proximal closure tube
segment 950 as a unit by rotating the nozzle 810 about the longitudinal axis A-A.
As can also be seen in FIGS. 44 and 49, an actuator notch 817 is provided in the articulation
nozzle 810 to engage the pivot plate 980. Thus, axial movement of the nozzle 810 will
cause the pivot plate 980 to pivot about the actuation axis N-N.
[0060] To pivot the end effector in the left direction about the pivot point or articulation
axis, the clinician moves the articulation nozzle 810 axially in the distal direction
"DD". Such movement of the articulation nozzle 810 in the distal direction "DD" causes
the pivot plate 980 to pivot about the actuation axis N-N in thereby moving the right
articulation band 910 in the distal direction "DD" and pulling the left articulation
band 930 in the proximal direction "PD". Such axial movement of the articulation nozzle
810 and the right and left articulation bands 910, 930 result in the application of
a pushing motion to the boss 96 by the right articulation band 910 and a pulling motion
to the boss 96 by the left articulation band assembly 930 which results in the articulation
of the end effector. See FIG. 49. Likewise, to pivot the end effector about the pivot
point or the articulation axis in the right direction, the clinician pulls the articulation
nozzle 810 in the proximal direction "PD". Such movement of the nozzle 810 in the
proximal direction "PD" causes the pivot plate 980 to pivot about the actuation axis
N-N thereby pushing the left articulation band 930 in the distal direction "DD" and
pulling the right articulation band 910 in the proximal direction "PD". Such axial
movement of the articulation nozzle 810 and the right and left articulation bands
910, 930 result in the application of a pushing motion to the boss 96 by the left
articulation band 930 and a pulling motion to the boss 96 by the right articulation
band 910 which results in the articulation of the end effector to the right of the
longitudinal axis A-A. To rotate the end effector about the longitudinal axis A-A,
the clinician simply rotates the articulation nozzle 810 about the longitudinal axis
A-A.
[0061] As was discussed above, the proximal closure tube segment 950 interfaces with the
closure trigger, such that when the clinician actuates the closure trigger, the proximal
closure tube segment 950 moves in the distal direction. In various non-limiting embodiments,
the distal end portion of the proximal closure tube segment may be configured as shown,
for example, in FIG. 2, to be pivotally coupled to the distal closure tube segment
150 to apply opening and closing motions to the anvil 130. In various non-limiting
embodiments, the articulation locking system 1000 is configured to be locked when
the proximal closure tube segment 950 is axially moved in the distal direction "DD"
and be unlocked when the proximal closure tube segment 950 is axially moved in the
proximal direction "PD".
[0062] More specifically, as can be seen in FIG. 45, the right articulation band 910 has
a plurality of right locking detents 1010 formed therein. Each detent 1010 corresponds
to a particular angular or articulated orientation of the end effector about the articulation
axis. The right locking detents 1010 are configured to be engaged by a right locking
ball 1012 that is movably supported in a right locking hole 1014 in the spine segment
850. Similarly, the left articulation band 930 as a plurality of left locking detents
1020 formed therein that are configured to be engaged by a left locking ball 1022
that is movably supported in a left locking hole 1024 in the spine segment 850. See
FIG. 49. The right locking ball 1012 is received in an elongated right locking cavity
1016 formed in the proximal closure tube segment 950. Such elongated locking cavity
1016 provides sufficient clearance for the right locking ball 1012 to move radially
as the right articulation band 912 is moved axially within the spine segment 850.
As can be most particularly seen in FIGS. 48 and 50, the proximal end 1017 of the
elongated right locking cavity 1016 has a locking ramp 1018 formed thereon. Similarly,
the left locking ball 1022 is received in an elongated left locking cavity 1026 formed
in the proximal closure tube segment 950. Such elongated locking cavity 1026 provides
sufficient clearance for the left locking ball 1022 to move radially as the left articulation
band 932 is moved axially within the spine segment 850. As can be most particularly
seen in FIG. 49, the proximal end of the elongated left locking cavity 1026 has a
left locking ramp 1028 formed thereon.
[0063] The operation of the articulation control system 800 and articulation locking system
1000 will now be described with reference to FIGS. 47-50. In various non-limiting
embodiments, when the clinician desires to articulate the end effector about the articulation
axis, the nozzle 810 is axially moved in a desired direction in the manner described
above. The clinician may accomplish this action with the same hand that he or she
is using to grasp and support the handle of the instrument. During the articulation
process, the closure trigger has not been actuated and the proximal closure tube 950
is in the "open" position as shown in FIGS. 47 and 48. As the right articulation band
912 is moved axially, the right locking ball 1012 is permitted to move sufficiently
radially away from the right articulation band 912 to permit it to move axially thereby
and as the left articulation band 932 is moved axially, the left locking ball 1022
is permitted to move sufficiently radially away from the left articulation band 932
to permit it to move axially thereby. As the clinician advances the nozzle 810 in
the appropriate axial direction and the right and left articulation bands 912, 932
move past the right and left locking balls 1012, 1022, respectively, the clinician
receives tactile feedback as the locking detents 1010, 1020 movably engage the locking
balls 1012, 1022, respectively. Once the clinician has attained the desired amount
of articulation which corresponds to a position wherein the right locking ball 1012
engages a right locking detent 1010 that corresponds with that articulated position
and the left locking ball 1022 likewise engages the left locking detent 1020 that
corresponds with that articulated position, the clinician can then activate the closure
trigger.
[0064] As discussed above, when the clinician activates the closure trigger, the proximal
closure tube segment 950 is axially advanced in the distal direction "DD". As the
proximal closure tube segment 950 is distally advanced, the right locking ramp 1018
engages the right locking ball 1012 and presses it radially inward into locking engagement
with the corresponding right locking detent 1010. Likewise, the left locking ramp
1028 engages the left locking ball 1022 and presses it radially inward into locking
engagement with the corresponding left locking detent 1020. Further axial advancement
of the proximal closure tube segment 950 in the distal direction "DD" will continue
to press the right and left locking balls 1012, 1022 into locking engagement to retain
the end effector in the desired articulated position while the anvil is closed and
the instrument is further used. After the end effector has been used "fired" and the
closure trigger is unlocked an returned to the open position, the proximal closure
tube segment 950 is moved in the proximal direction "PD" to the starting position
wherein the articulation bands 912, 932 may be axially moved if desired to orient
the end effector in the desired position for removal from the surgical site. Thus,
such articulation locking system is essentially activated by the application of closing
motions to the end effector. Although the articulation assembly as described above
employs two elongated articulation rods or members, in alternative embodiments, only
one elongated articulation member is employed. Likewise, in alternative embodiments,
the articulation locking system may only employ one locking ball arrangement configured
to engage locking detents in the corresponding elongated articulation member. Also,
in embodiments that employ two elongated articulation members, only one locking ball
may be employed to lock one of the articulation members upon application of a closure
force to the end effector.
[0065] The devices disclosed herein can be designed to be disposed of after a single use,
or they can be designed to be used multiple times. In either case, however, the device
can be reconditioned for reuse after at least one use. Reconditioning can include
any combination of the steps of disassembly of the device, followed by cleaning or
replacement of particular pieces, and subsequent reassembly. In particular, the device
can be disassembled, and any number of the particular pieces or parts of the device
can be selectively replaced or removed in any combination. Upon cleaning and/or replacement
of particular parts, the device can be reassembled for subsequent use either at a
reconditioning facility, or by a surgical team immediately prior to a surgical procedure.
Those skilled in the art will appreciate that reconditioning of a device can utilize
a variety of techniques for disassembly, cleaning/replacement, and reassembly. Use
of such techniques, and the resulting reconditioned device, are all within the scope
of the present application.
[0066] Preferably, the inventions described herein will be processed before surgery. First,
a new or used instrument is obtained and if necessary cleaned. The instrument can
then be sterilized. In one sterilization technique, the instrument is placed in a
closed and sealed container, such as a plastic or TYVEK bag. The container and instrument
are then placed in a field of radiation that can penetrate the container, such as
gamma radiation, x-rays, or high-energy electrons. The radiation kills bacteria on
the instrument and in the container. The sterilized instrument can then be stored
in the sterile container. The sealed container keeps the instrument sterile until
it is opened in the medical facility.
1. Chirurgisches Instrument (10), umfassend:
einen länglichen Schaft (14), der eine Längsachse definiert,
einen an den länglichen Schaft (14) gekoppelten Endeffektor (20) für einen gezielten
Schwenklauf bezüglich des länglichen Schafts (14), wobei der Endeffektor (20) mindestens
einen beweglichen Abschnitt hat, der auf Öffnungs- und Schließbewegungen reagiert,
ein Schließglied, das mit dem mindestens einen beweglichen Abschnitt des Endeffektors
(20) gekoppelt ist, um diesen gezielt mit der Schließbewegung zu beaufschlagen,
ein Gelenksteuersystem (800), das mit dem Endeffektor (20) wirkgekoppelt ist, um diesen
mit Gelenkbewegungen zu beaufschlagen, und
ein Gelenkverriegelungssystem, das mit dem Gelenksteuersystem (800) und dem Schließglied
gekoppelt ist, wobei das Gelenkverriegelungssystem dazu ausgestaltet ist, sich aus
einer entriegelten Position, in der das Gelenksteuersystem (800) den Endeffektor (20)
mit den Gelenkbewegungen beaufschlagt, und einer verriegelten Position zu bewegen,
in der das Gelenkverriegelungssystem verhindert, dass das Gelenksteuersystem (800)
den Endeffektor (20) mit den Gelenkbewegungen beaufschlgt, wenn das Schließglied mit
der Schließbewegung beaufschlagt wird,
wobei das Gelenksteuersystem eine Düse (810) umfasst, die so bezüglich des länglichen
Schafts (14) gestützt ist, dass die Düse (810) axial in einer ersten und einer zweiten
axialen Richtung bezüglich des länglichen Schafts (14) bewegt werden kann, und eine
Drehung der Düse (810) um die Längsachse veranlasst, dass sich der Endeffektor (20)
um die Längsachse dreht, und
wobei das Gelenksteuersystem (800) eine Gelenkanordnung (900) umfasst, die mit dem
Endeffektor (20) und der Düse (810) so wirkgekoppelt ist, dass durch eine Bewegung
der Düse (810) in der ersten axialen Richtung veranlasst wird, dass die Gelenkanordnung
(900) den Endeffektor (20) mit einer ersten Gelenkbewegung beaufschlagt, und durch
eine Bewegung der Düse (810) in der zweiten axialen Richtung veranlasst wird, dass
die Gelenkanordnung (900) den Endeffektor (20) mit einer zweiten Gelenkbewegung beaufschlagt.
2. Chirurgisches Instrument (10) nach Anspruch 1, wobei die Gelenkanordnung (900) Folgendes
umfasst:
ein erstes längliches Gelenkglied (910) mit einem ersten proximalen Ende und einem
ersten distalen Ende, wobei das erste distale Ende mit dem Endeffektor (20) wirkgekoppelt
ist und das erste proximale Ende mit der Düse (810) wirkgekoppelt ist, und
ein zweites längliches Gelenkglied (930) mit einem zweiten proximalen Ende und einem
zweiten distalen Ende, wobei das zweite distale Ende mit dem Endeffektor (20) wirkgekoppelt
ist und das zweite proximale Ende mit der Düse (810) wirkgekoppelt ist.
3. Chirurgisches Instrument (10) nach Anspruch 2, wobei das Gelenkverriegelungssystem
ein erstes Verriegelungsglied umfasst, das beweglich mit dem Schließglied und dem
ersten länglichen Gelenkglied (910) gekoppelt ist, so dass das erste Verriegelungsglied
in Verriegelungseingriff mit dem ersten länglichen Gelenkglied (910) bewegt wird,
wenn der Endeffektor (20) durch das Schließglied mit der Schließbewegung beaufschlagt
wird.
4. Chirurgisches Instrument (10) nach Anspruch 3, wobei der Endeffektor (20) gelenkig
in verschiedene Gelenkpositionen bewegbar ist und wobei das erste längliche Gelenkglied
(910) eine Vielzahl von ersten Verriegelungspositionen (1010) umfasst, die den verschiedenen
Gelenkpositionen entsprechen.
5. Chirurgisches Instrument (10) nach Anspruch 4, wobei das erste Verriegelungsglied
eine erste Verriegelungskugel (1012) umfasst, die für einen Lauf zwischen einer entriegelten
Position und der Vielzahl von verriegelten Positionen beweglich gestützt ist.
6. Chirurgisches Instrument (10) nach Anspruch 3, wobei das Gelenkverriegelungssystem
ferner ein zweites Verriegelungsglied umfasst, das beweglich mit dem Schließglied
und dem zweiten länglichen Gelenkglied (930) gekoppelt ist, so dass das zweite Verriegelungsglied
in Verriegelungseingriff mit dem zweiten länglichen Gelenkglied (930) bewegt wird,
wenn der Endeffektor (20) durch das Schließglied mit der Schließbewegung beaufschlagt
wird.
7. Chirurgisches Instrument (10) nach Anspruch 6, wobei das zweite längliche Gelenkglied
(930) eine Vielzahl von zweiten Verriegelungspositionen (1020) definiert, die der
Vielzahl der ersten Verriegelungspositionen entspricht.
8. Chirurgisches Instrument (10) nach Anspruch 7, wobei das zweite Verriegelungsglied
eine zweite Verriegelungskugel (1022) umfasst, die für einen beweglichen Lauf zwischen
dem Schließglied und dem zweiten länglichen Gelenkglied (930) beweglich gestützt ist,
und wobei die Vielzahl der zweiten Verriegelungspositionen eine Vielzahl von zweiten
Verriegelungsrasten (1020) in dem zweiten länglichen Gelenkglied (930) für gezielten
Verriegelungseingriff mit der zweiten Verriegelungskugel umfasst.
9. Chirurgisches Instrument (10) nach Anspruch 1, wobei der Endeffektor (20) ein chirurgisches
Schneid- und Befestigungsinstrument umfasst.
10. Chirurgisches Instrument (10) nach Anspruch 1, wobei das Schließglied mit dem mindestens
einen beweglichen Abschnitt gekoppelt ist, um diesen mit der Öffnungsbewegung zu beaufschlagen,
wenn das Schließglied in einer Öffnungsrichtung bewegt wird, und wobei das Gelenkverriegelungssystem
Folgendes umfasst:
ein Verriegelungsglied, das so mit dem Schließglied und dem ersten länglichen Gelenkglied
(910) wirkgekoppelt ist, dass das Verriegelungsglied das erste längliche Gelenkglied
(910) in Verriegelungseingriff nimmt, wenn das Schließglied in der Schließrichtung
bewegt wird, um dessen Bewegung in der ersten und zweiten Betätigungsrichtung zu verhindern,
und das Verriegelungsglied das erste Gelenkglied (910) freigibt, wenn das Schließglied
in der Öffnungsrichtung bewegt wird, damit sich das erste Gelenkglied (910) in der
ersten und zweiten Betätigungsrichtung bewegen kann.
11. Chirurgisches Instrument (10) nach Anspruch 10, wobei das erste längliche Gelenkglied
(910) eine Vielzahl von ersten Verriegelungspositionen definiert, die den verschiedenen
Gelenkpositionen entsprechen.
12. Chirurgisches Instrument (10) nach Anspruch 11, wobei das Verriegelungsglied eine
erste Verriegelungskugel (1012) umfasst, die für einen radialen Lauf zwischen dem
Schließglied und dem ersten länglichen Gelenkglied (910) beweglich gestützt ist, und
wobei die Vielzahl von Verriegelungspositionen eine Vielzahl von ersten Verriegelungsrasten
(1010) in dem ersten länglichen Gelenkglied (910) für gezielten Verriegelungseingriff
mit der ersten Verriegelungskugel (1012) umfasst.
13. Chirurgisches Instrument (10) nach Anspruch 10, ferner umfassend:
ein zweites längliches Gelenkglied (930), der bezüglich des Schließglieds beweglich
gestützt ist, und
ein zweites Verriegelungsglied, das so mit dem Schließglied und dem zweiten länglichen
Gelenkglied (930) wirkgekoppelt ist, dass das zweite Verriegelungsglied das zweite
längliche Gelenkglied (930) in Verriegelungseingriff nimmt, wenn das Schließglied
in der Schließrichtung bewegt wird, um dessen Bewegung in der ersten und zweiten Betätigungsrichtung
zu verhindern, und das zweite Verriegelungsglied das zweite Gelenkglied (930) freigibt,
wenn das Schließglied in der Öffnungsrichtung bewegt wird, damit sich das zweite Gelenkglied
bewegen kann.
14. Chirurgisches Instrument (10) nach Anspruch 13, wobei das erste längliche Gelenkglied
(910) eine Vielzahl von ersten Verriegelungspositionen umfasst, die den verschiedenen
Gelenkpositionen entsprechen, und wobei das zweite längliche Gelenkglied (930) eine
Vielzahl von zweiten Verriegelungspositionen umfasst, die der Vielzahl der ersten
Verriegelungspositionen entspricht.
1. Instrument chirurgical (10), comprenant:
un arbre allongé (14) qui définit un axe longitudinal;
un effecteur d'extrémité (20) couplé audit arbre allongé (14) pour exécuter un déplacement
pivotant sélectif par rapport audit arbre allongé (14), ledit effecteur d'extrémité
(20) présentant au moins une partie mobile sensible à des mouvements d'ouverture et
de fermeture;
un élément de fermeture qui interface avec ladite au moins une partie mobile dudit
effecteur d'extrémité (20) pour appliquer de façon sélective ledit mouvement de fermeture
à celui-ci;
un système de commande d'articulation (800) qui interface de façon opérationnelle
avec ledit effecteur d'extrémité (20) pour appliquer des mouvements d'articulation
à celui-ci; et
un système de verrouillage d'articulation qui interface avec ledit système de commande
d'articulation (800) et ledit élément de fermeture, ledit système de verrouillage
d'articulation étant configuré de manière à se déplacer à partir d'une position déverrouillée,
dans laquelle ledit système de commande d'articulation (800) applique lesdits mouvements
d'articulation audit effecteur d'extrémité (20), et une position verrouillée, dans
laquelle ledit système de verrouillage d'articulation empêche ledit système de commande
d'articulation (800) d'appliquer lesdits mouvements d'articulation audit effecteur
d'extrémité (20) lors d'une application dudit mouvement de fermeture par ledit élément
de fermeture,
dans lequel le système de commande d'articulation comprend une buse (810) supportée
par rapport audit arbre allongé (14) de telle sorte que ladite buse (810) puisse être
déplacée axialement dans des première et seconde directions axiales par rapport audit
arbre allongé (14), et la rotation de ladite buse (810) autour dudit axe longitudinal
amène ledit effecteur d'extrémité (20) à tourner autour dudit axe longitudinal, et
dans lequel ledit système de commande d'articulation (800) comprend un ensemble d'articulation
(900) qui interface de façon opérationnelle avec ledit effecteur d'extrémité (20)
et ladite buse (810) de telle sorte qu'un déplacement de ladite buse (810) dans ladite
première direction axiale amène ledit ensemble d'articulation (900) à appliquer un
premier mouvement d'articulation audit effecteur d'extrémité (20), et un déplacement
de ladite buse (810) dans ladite seconde direction axiale amène ledit ensemble d'articulation
(900) à appliquer un second mouvement d'articulation audit effecteur d'extrémité (20)
.
2. Instrument chirurgical (10) selon la revendication 1, dans lequel ledit ensemble d'articulation
(900) comprend:
un premier élément d'articulation allongé (910) présentant une première extrémité
proximale et une première extrémité distale, dans lequel la première extrémité distale
interface de façon opérationnelle avec ledit effecteur d'extrémité (20) et ladite
première extrémité proximale interface de façon opérationnelle avec ladite buse (810);
et
un second élément d'articulation allongé (930) présentant une seconde extrémité proximale
et une seconde extrémité distale, dans lequel la seconde extrémité distale interface
de façon opérationnelle avec ledit effecteur d'extrémité (20), et dans lequel ladite
seconde extrémité proximale interface de façon opérationnelle avec ladite buse (810).
3. Instrument chirurgical (10) selon la revendication 2, dans lequel ledit système de
verrouillage d'articulation comprend un premier élément de verrouillage qui interface
de façon mobile avec ledit élément de fermeture et ledit premier élément d'articulation
allongé (910) de telle sorte que, lors d'une application dudit mouvement de fermeture
audit effecteur d'extrémité (20) par ledit élément de fermeture, ledit premier élément
de verrouillage soit déplacé dans un engagement à verrouillage avec ledit premier
élément d'articulation allongé (910).
4. Instrument chirurgical (10) selon la revendication 3, dans lequel ledit effecteur
d'extrémité (20) peut être articulé dans différentes positions articulées, et dans
lequel ledit premier élément d'articulation allongé (910) comprend une pluralité de
premières positions de verrouillage (1010) qui correspondent auxdites différentes
positions articulées.
5. Instrument chirurgical (10) selon la revendication 4, dans lequel ledit premier élément
de verrouillage comprend une première bille de verrouillage (1012) qui est supportée
de façon mobile pour se déplacer entre une position déverrouillée et ladite pluralité
de position verrouillées.
6. Instrument chirurgical (10) selon la revendication 3, dans lequel ledit système de
verrouillage d'articulation comprend en outre un second élément de verrouillage qui
interface de façon mobile avec ledit élément de fermeture et ledit second élément
d'articulation allongé (930) de telle sorte que lors d'une application dudit mouvement
de fermeture audit effecteur d'extrémité (20) par ledit élément de fermeture, ledit
second élément de verrouillage soit déplacé dans un engagement à verrouillage avec
ledit second élément d'articulation allongé (930).
7. Instrument chirurgical (10) selon la revendication 6, dans lequel ledit second élément
d'articulation allongé (930) définit une pluralité de secondes positions de verrouillage
(1020) qui correspondent à ladite pluralité desdites premières positions de verrouillage.
8. Instrument chirurgical (10) selon la revendication 7, dans lequel ledit second élément
de verrouillage comprend une seconde bille de verrouillage (1022) supportée de façon
mobile pour exécuter un déplacement mobile entre ledit élément de fermeture et ledit
second élément d'articulation allongé (930), et dans lequel ladite pluralité desdites
secondes positions de verrouillage comprend une pluralité de secondes détentes de
verrouillage (1020) dans ledit second élément d'articulation allongé (930) pour réaliser
un engagement sélectif à verrouillage avec ladite seconde bille de verrouillage.
9. Instrument chirurgical (10) selon la revendication 1, dans lequel ledit effecteur
d'extrémité (20) comprend un instrument chirurgical de coupe et d'attache.
10. Instrument chirurgical (10) selon la revendication 1, dans lequel
l'élément de fermeture interface avec ladite au moins une partie mobile pour appliquer
ledit mouvement d'ouverture à celle-ci lorsque ledit élément de fermeture est déplacé
dans une direction d'ouverture, et
dans lequel le système de verrouillage d'articulation comprend:
un élément de verrouillage qui interface de façon opérationnelle avec ledit élément
de fermeture et ledit premier élément d'articulation allongé (910) de telle sorte
que lorsque ledit élément de fermeture est déplacé dans ladite direction de fermeture,
ledit élément de verrouillage engage avec verrouillage ledit première élément d'articulation
allongé (910) afin d'empêcher le déplacement de celui-ci dans lesdites première et
seconde directions d'actionnement, et lorsque ledit élément de fermeture est déplacé
dans ladite direction d'ouverture, ledit élément de verrouillage désengage ledit premier
élément d'articulation (910) de manière à permettre audit premier élément d'articulation
(910) de se déplacer dans lesdites première et seconde directions d'actionnement.
11. Instrument chirurgical (10) selon la revendication 10, dans lequel ledit premier élément
d'articulation allongé (910) définit une pluralité de premières positions de verrouillage
qui correspondent auxdites différentes positions articulées.
12. Instrument chirurgical (10) selon la revendication 11, dans lequel ledit élément de
verrouillage comprend une première bille de verrouillage (1012) supportée de façon
mobile pour exécuter un déplacement radial entre ledit élément de fermeture et ledit
premier élément d'articulation allongé (910), et dans lequel ladite pluralité de positions
de verrouillage comprend une pluralité de premières détentes de verrouillage (1010)
dans ledit premier élément d'articulation allongé (910) pour réaliser un engagement
sélectif à verrouillage avec ladite première bille de verrouillage (1012).
13. Instrument chirurgical (10) selon la revendication 10, comprenant en outre:
un second élément d'articulation allongé (930) supporté de façon mobile par rapport
audit élément de fermeture; et
un second élément de verrouillage qui interface de façon opérationnelle avec ledit
élément de fermeture et ledit second élément d'articulation allongé (930) de telle
sorte que lorsque ledit élément de fermeture est déplacé dans ladite direction de
fermeture, ledit second élément de verrouillage engage avec verrouillage ledit second
élément d'articulation allongé (930) afin d'empêcher le déplacement de celui-ci, et
lorsque ledit élément de fermeture est déplacé dans ladite direction d'ouverture,
ledit second élément de verrouillage désengage ledit second élément d'articulation
allongé (930) de manière à permettre audit second élément d'articulation de se déplacer.
14. Instrument chirurgical (10) selon la revendication 13, dans lequel ledit premier élément
d'articulation allongé (910) comprend une pluralité de premières positions de verrouillage
qui correspondent auxdites différentes positions articulées, et dans lequel ledit
second élément d'articulation allongé (930) comprend une pluralité de secondes positions
de verrouillage qui correspondent à ladite pluralité desdites premières positions
de verrouillage.